| Title: | A survey on imitation learning for contact-rich tasks in robotics |
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| Authors: | ID Tsuji, Toshiaki (Author)
ID Kato, Yasuhiro (Author)
ID Solak, Gokhan (Author)
ID Zhang, Heng (Author)
ID Petrič, Tadej, Institut "Jožef Stefan" (Author)
ID Nori, Francesco (Author)
ID Ajoudani, Arash (Author) |
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| Files: |  URL - Source URL, visit https://journals.sagepub.com/doi/10.1177/02783649261417694
 PDF - Presentation file, download (1,57 MB)
MD5: 6ECAB34689B020CD5AC3A9EDC6880C9D
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| Language: | English |
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| Typology: | 1.02 - Review Article |
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| Organization: |  IJS - Jožef Stefan Institute
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| Abstract: | This paper comprehensively surveys research trends in imitation learning (IL) for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to their nonlinear dynamics and sensitivity to small positional deviations. The paper examines demonstration collection methodologies, including teaching methods and sensory modalities crucial for capturing subtle interaction dynamics. We then analyze IL approaches, highlighting their applications to contact-rich manipulation. Recent advances in multimodal learning and foundation models have significantly enhanced performance in complex contact tasks across industrial, household, and healthcare domains. Through systematic organization of current research and identification of challenges, this survey provides a foundation for future advancements in contact-rich robotic manipulation. |
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| Keywords: | imitation learning, contact-rich robotic tasks, reinforcement learning, impedance control |
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| Publication status: | Published |
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| Publication version: | Version of Record |
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| Submitted for review: | 11.06.2025 |
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| Article acceptance date: | 27.12.2025 |
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| Publication date: | 14.03.2026 |
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| Publisher: | Sage Publications |
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| Year of publishing: | 2026 |
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| Number of pages: | str. 1-36 |
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| Numbering: | Vol. 45, iss. |
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| Source: | Združeno kraljestvo |
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| PID: | 20.500.12556/DiRROS-28477  |
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| UDC: | 007.52 |
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| ISSN on article: | 1741-3176 |
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| DOI: | 10.1177/02783649261417694 |
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| COBISS.SI-ID: | 272456707 |
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| Copyright: | © The Author(s) 2026 |
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| Note: | Nasl. z nasl. zaslona;
Soavtor iz Slovenije: Tadej Petrič;
Opis vira z dne 20. 3. 2026;
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| Publication date in DiRROS: | 20.03.2026 |
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| Views: | 258 |
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| Downloads: | 96 |
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| Metadata: |    |
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